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Operating URCap and Running CNC Programs

Running the

VB: Run Haas Legacy node

•

This node should be run after the robot has

completely exited the CNC and the CNC door has

closed. The 9000 Dispatcher program should loaded

and displayed on the CNC Controller screen.

1. This node will attempt to open communication with the

CNC, if this fails a popup will appear on the screen. Refer

to Appendix C to troubleshoot this issue.

2. Next the node will validate that the VersaBuilt Robotics

Dispatcher Program 9000 is on the screen of the CNC, the

CNC is in Memory mode, and the CNC is IDLE. If any of

these things is untrue a popup will appear.

3. The node will then write the CNC Milling Program

number to the CNC.

4. Lastly the node will Cycle Start the CNC.

August 2019

VersaBuilt Robotics

26

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Summary of Contents for 5003870

Page 1: ...VersaBuilt Robotics with Universal Robots Haas Legacy CNC Communication Kit Product No 5003870 ...

Page 2: ...tion URCap is completed by Sending TCP IP packets between the UR Control Box and CNC controller through an Ethernet cable and or a Serial to Ethernet converter sold separately The CNC is started through a 24VDC signal from the UR Control Box to energize the CNC cycle start button by way of a Cycle Start Relay Signaling the completion of CNC programs from the CNC to the UR Control Box is completed ...

Page 3: ...ware for UR Teach Pendant Software for Haas Controller Cycle Start Relay Kit 5003877 Ethernet Cable for communication between UR controller and CNC Serial Ethernet Converter and Power Supply Serial Cable August 2019 VersaBuilt Robotics 3 ...

Page 4: ...the UR Control Box Install Software on Haas CNC Controller and configure settings Software on UR Teach Pendant Enter license key on Installation tab Connect Ethernet Cable from UR Control Box to Haas CNC Controller Cycle Start Relay from UR Control Box to Haas CNC Controller August 2019 VersaBuilt Robotics 4 ...

Page 5: ...Connect Ethernet Cable and Cycle Start Relay August 2019 VersaBuilt Robotics 5 ...

Page 6: ... August 2019 VersaBuilt Robotics 6 Connect an Ethernet cable from the UR Control Box to the Serial to Ethernet Converter Haas Legacy Controllers require a Serial to Ethernet converter as Machine Data Collect only communicates over Serial ...

Page 7: ...le Start Relay Installation August 2019 VersaBuilt Robotics 7 Connector to Digital Output panel inside UR Control Box 24VDC Relay with 2 wire connection to Haas CNC Cycle Start Button 10 meter 2 wire cable ...

Page 8: ...Cycle Start Relay Connecting to Haas CNC Controller August 2019 VersaBuilt Robotics 8 ...

Page 9: ... sure CNC is powered off 3 Rotate Haas Control Panel to show back of panel 4 Remove the back cover panel on the Haas Control Panel by unscrewing the 4 fasteners with a Phillips head screwdriver or M4 Allen wrench Connect Cycle Start Relay to Haas CNC Controller August 2019 VersaBuilt Robotics 9 ...

Page 10: ...e Cycle Start Button 6 Remove backing with flathead screwdriver 7 Connect the fork terminals from Relay to Button Polarity does not matter Either wire can go to either terminal Connect the VersaBuilt Robotics Cycle Start relay with black cable to 3 and red cable to 4 note polarity does not matter ...

Page 11: ...ough any cable routing hole on the Haas Control Panel 9 Route the cable over the CNC through a protected wire way and to the UR Control Box 10 Put back sheet metal cover panel and fasten the 4 screws with a Phillips screwdriver or M4 Allen wrench note some hardware may vary depending on CNC model and year ...

Page 12: ... the D04 D07 empty Digital Output block with the one pre wired from VersaBuilt Robotics or alternatively remove the wires from the supplied block and install into the UR Digital Output Block Any Digital Output or Configurable Output can be used 12 Make a note of which Digital Output is tied to the Cycle Start Relay as it will be used inside the URCap ...

Page 13: ...Electrical Diagram Connecting to UR Control Box August 2019 VersaBuilt Robotics 13 ...

Page 14: ...Install Software on UR Teach Pendant and Haas Controller ...

Page 15: ... Robotics Dispatcher Facilitates communication between the CNC and the robot 9004 Sub program used after successful completion of all programs run by the robot These two VersaBuilt Robotics CNC programs enable the Universal Robot to communicate with the CNC August 2019 VersaBuilt Robotics 15 ...

Page 16: ...Laptop that you can connect directly to the Serial to Ethernet Converter IP Address of Converter should match what is entered in Haas Legacy CNC Setup for IP Address Port is 23 by default but can be changed but must be changed in both places Serial Settings for Legacy Haas Control on following page August 2019 VersaBuilt Robotics 16 ...

Page 17: ...Stop Bit 1 Synchronization XON XOFF RS 232 Data Bits 8 Leader to Punch NONE EOB Pattern CR LF Add Spaces RS232 Out ON AUX Axis Sync XON XOFF AUX Axis Baud Rate 4800 DPRNT Leading Space OFF DPRNT Open Clos DCODE ON Machine Data Collect ON Machine Data Echo OFF Load Pocket Tables OFF Save Offset with Prog OFF Offset Format Type A ...

Page 18: ...Install UR Software URCap August 2019 VersaBuilt Robotics 18 All of the following Install instructions require the UR Teach Pendant be in manual mode ...

Page 19: ...eries requires 5 2 0 61336 or newer CB Series requires 3 8 0 61336 or newer Note The following instructions are specific to the E Series the steps should be the same for the CB Series but the buttons might be in different places August 2019 VersaBuilt Robotics 19 ...

Page 20: ...Settings from the menu in the upper right corner then navigate to System URCaps to add a new URCap 3 Browse to the USB flash drive choose the appropriate folder Legacy Files and select VersaBuiltHaasLegacyDriver 1 4 urcap note version number may be higher 4 Restart the UR Teach Pendant August 2019 VersaBuilt Robotics 20 ...

Page 21: ...gs for your robot Static Address IP Address 192 0 2 1 Subnet Mask 255 255 255 0 7 Press Apply and validate that Network connection is successful Then Exit this page These settings match the recommended settings for CNC Settings For more advanced network setups please see Appendix A August 2019 VersaBuilt Robotics 21 ...

Page 22: ...Driver b Enter the provided license key and press Check License Key Save this Installation to remember these values and your licensed state If you do not have a license key or the key provided does not work contact VersaBuilt Robotics directly email helpdesk versabuilt com phone 208 629 5914 Please have the following information available Proof of Purchase Robot Serial Number August 2019 VersaBuil...

Page 23: ...gs especially IP Address IP Address should match what was entered on the Haas CNC Controller Choose appropriate CycleStart Digital Output by clicking on the drop down arrow and choosing the matching Digital or Configurable Output See Appendix B on instructions on how and why to modify default settings August 2019 VersaBuilt Robotics 23 ...

Page 24: ...Operate Using the Teach Pendant Commands to run CNC programs ...

Page 25: ...w line will appear in the Robot Program called Run CNC Program 0 Where the zero will be replaced with milling program number Enter a valid CNC Milling Program Zero is not an allowed program number and the node will not be marked complete until a valid program number is entered Communication Settings can be ignored as long as default values are acceptable See Appendix B on how and why to use other ...

Page 26: ...to open communication with the CNC if this fails a popup will appear on the screen Refer to Appendix C to troubleshoot this issue 2 Next the node will validate that the VersaBuilt Robotics Dispatcher Program 9000 is on the screen of the CNC the CNC is in Memory mode and the CNC is IDLE If any of these things is untrue a popup will appear 3 The node will then write the CNC Milling Program number to...

Page 27: ...g as it receives a response and that response shows the CNC as Busy it will continue to poll Then when the CNC is no longer Busy the node checks to see if the Program Complete Macro Variable is set to 2 if not a popup will appear The Program Complete Macro Variable is set using the 9004 program This program should be called at the end of every milling program executed by this URCap Add M98 P9004 a...

Page 28: ... address the IT Administrator will provide Serial to Ethernet IP Address This value will be entered into the URCap Serial to Ethernet Subnet Mask See Serial to Ethernet Converter instructions on how to change the IP Address of the Converter The robot can use a dynamic or a static IP address If Static a System Administrator should provide Static IP address and valid Subnet Mask that should be setup...

Page 29: ...grams Program Macro Var is used to store the milling program number and Completion Macro Var is used to validate that the program has completed If these macro variables are already in use for other purposes these values can be changed The macro variables chosen need to be externally writable macro variables By default VersaBuilt Robotics uses 891 890 Dispatcher Program If the 9000 program is alrea...

Page 30: ...d at each end to the appropriate controller Verify the IP Address in the URCap is on the same network as the IP Address in the UR Teach Pendant Network Settings and that the IP Address in the URCap is exactly the same as that on the CNC For further help troubleshooting connectivity please contact helpdesk versabuilt com or 208 629 5914 August 2019 VersaBuilt Robotics 30 ...

Page 31: ...one by forcing the appropriate Digital Output to high and verifying the LED on the Relay is lit up If wired properly and functioning firing the cycle start relay will start whatever program is selected if the CNC is in the correct mode For further help troubleshooting connectivity please contact helpdesk versabuilt com or 208 629 5914 August 2019 VersaBuilt Robotics 31 ...

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